QuadEncoder.hpp

/*
 * Copyright 2021 Marcus Behel
 *
 * This file is part of ArPiRobot-CoreLib.
 * 
 * ArPiRobot-CoreLib is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 * 
 * ArPiRobot-CoreLib is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public License
 * along with ArPiRobot-CoreLib.  If not, see <https://www.gnu.org/licenses/>. 
 */
 
#pragma once
 
#include <arpirobot/arduino/device/ArduinoDevice.hpp>
#include <arpirobot/arduino/iface/BaseArduinoInterface.hpp>
 
namespace arpirobot{
    class QuadEncoder : public ArduinoDevice{
    public:
 
        QuadEncoder(int pinA, int pinB, bool useInternalPullup, bool createDevice = true, int deviceId = -1);
 
        QuadEncoder(std::string pinA, int pinB, bool useInternalPullup, bool createDevice = true, int deviceId = -1);
 
        QuadEncoder(int pinA, std::string pinB, bool useInternalPullup, bool createDevice = true, int deviceId = -1);
 
        QuadEncoder(std::string pinA, std::string pinB, bool useInternalPullup, bool createDevice = true, int deviceId = -1);
 
        int32_t getPosition();
 
        void setPosition(int32_t currentPosition);
 
        float getVelocity();
    
    protected:
        void applyDefaultState() override;
        std::vector<uint8_t> getCreateData() override;
        void handleData(const std::vector<uint8_t> &data) override;
    
    private:
        static const uint8_t numSamples = 5;
 
        std::string pinA, pinB;
        uint8_t useInternalPullup;
        int32_t count = 0;
        int32_t countOffset = 0;
        float velocity = 0;
    };
}